on the fly config
28 Jul 2013 05:38 #37109
by btvpimill
Replied by btvpimill on topic on the fly config
I see Andy told me how to install the file - Thanks Andy 
Here is what I think I need to do to modify the swapkins file:I can't try this for a few days, but want to see if it looks right. I only changed the stuff here, I laft the rest of the file as it were. The goal is to be able to set or clear a hal pin and have my V,W joints act as slaves to Y.Z.
Here is what I think I need to do to modify the swapkins file:
int kinematicsForward(const double *joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
static int old_change = 0;
pos->tran.x = joints[0];
if(*haldata->change == 1) {
pos->tran.y = joints[1];
pos->tran.y = joints[7];
pos->tran.z = joints[2];
pos->tran.z = joints[8];
}
else
{
pos->tran.y = joints[1];
pos->tran.z = joints[2];
pos->v = joints[7];
pos->w = joints[8];
}
pos->tran.x = joints[0];
pos->a = joints[3];
pos->c = joints[5];
pos->u = joints[6];
return 0;
}
int kinematicsInverse(const EmcPose * pos,
double *joints,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
if(*haldata->change == 1) {
joints[1] = pos->tran.y;
joints[1] = pos->tran.v;
joints[2] = pos->tran.z;
joints[2] = pos->tran.w;
}
else
{
joints[1] = pos->tran.y;
joints[2] = pos->tran.z;
joints[7] = pos->v;
joints[8] = pos->w;
}
joints[0] = pos->tran.x;
joints[3] = pos->a;
joints[5] = pos->c;
joints[6] = pos->u;
return 0;
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